// --------------------------------------------------------------------------------------------------------------------
// <copyright file="JointMessageInterpolatorAgent.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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namespace Microsoft.Robotics.Navigation.Runtime.Motion
{
    using System;
    using System.Collections.Generic;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Hardware.DAC;
    using Microsoft.Robotics.Hardware.Runtime.DAC;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Vision.Cameras;
    using Microsoft.Robotics.Vision.Runtime.Cameras;

    /// <summary>
    /// Class which interpolates joint messages based on kinect message timing.
    /// </summary>
    [DataContract]
    public class JointMessageInterpolatorAgent : InterpolationConsumerProducerAgent<JointMessage, DepthCameraAgentMessage<KinectDepthCameraParameters>>
    {
        /// <summary>
        /// The name of the pan/tilt joint position producer we subscribe to.
        /// </summary>
        [DataMember(Name = "JointMessageProducer")]
        private readonly string jointMessageProducer;

        /// <summary>
        /// The name of the Kinect agent we subscribe to.
        /// </summary>
        [DataMember(Name = "KinectMessageProducer")]
        private readonly string kinectMessageProducer;

        /// <summary>
        /// Initializes a new instance of the <see cref="JointMessageInterpolatorAgent" /> class.
        /// </summary>
        /// <param name="name">This agent name</param>
        /// <param name="jointMessageProducer">Pan/Tilt joint info producer agent name</param>
        /// <param name="kinectMessageProducer">Kinect agent message producer name</param>        
        public JointMessageInterpolatorAgent(
            string name,
            string jointMessageProducer,
            string kinectMessageProducer)
            : base(name)
        {
            this.jointMessageProducer = jointMessageProducer;
            this.kinectMessageProducer = kinectMessageProducer;
        }

        /// <summary>
        /// Needs to be provided for the interpolation
        /// </summary>
        protected override string ProducerName1
        {
            get { return this.jointMessageProducer; }
        }

        /// <summary>
        /// Needs to be provided for the interpolation
        /// </summary>
        protected override string ProducerName2
        {
            get { return this.kinectMessageProducer; }
        }

        /// <summary>
        /// Initialize the agent
        /// </summary>
        /// <param name="locator">The agent locator</param>
        public override void Initialize(AgentLocator locator)
        {
            if (this.jointMessageProducer == default(string) ||
                this.kinectMessageProducer == default(string))
            {
                throw new ArgumentException(string.Format("At least one required initialization parameter is missing for {0}.", this.GetType().FullName));
            }

            base.Initialize(locator);
        }

        /// <summary>
        /// Called to interpolate between the start and end messages by the time provided by the interpolation timer's OriginatingTime.        
        /// </summary>
        /// <param name="start">The start message</param>
        /// <param name="end">The end message</param>
        /// <param name="interpolationTime">The time for interpolation</param>
        protected override void Receive(JointMessage start, JointMessage end, long interpolationTime)
        {
            long startTime = start.OriginatingTime;
            long endTime = end.OriginatingTime;
            long desiredTime = interpolationTime;

            List<JointState> startState = start.State;
            List<JointState> endState = end.State;

            List<JointState> interpolated = new List<JointState>();
            for (int i = 0; i < startState.Count; ++i)
            {
                interpolated.Add(JointState.Interpolate(startTime, endTime, desiredTime, startState[i], endState[i]));
            }

            this.Publisher.Post(new JointMessage(interpolated, desiredTime));
        }
    }
}
